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Full-Text Articles in Engineering
Sensitivity Study For Uav Gps-Denied Navigation In Uncertain Landmark Fields, Samantha D. Burton
Sensitivity Study For Uav Gps-Denied Navigation In Uncertain Landmark Fields, Samantha D. Burton
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
This document provides two 2D simulation sensitivity analyses regarding a drone’s flight characteristic (state) errors within a GPS-denied region. The research focuses on a development and investigation of utilizing a camera to simultaneously determine a drone’s state while locating landmarks, where there is uncertainty in the landmarks’ exact positions prior to the mission (SLAM). This SLAM method is performed in regions with limited access to GPS. Furthermore, there is development and investigation of controlling the drone in conjunction with SLAM using potential error-reducing control parameters. Objectives are to quantitatively understand the UAV’s sensitivity of position errors to sensor grade and …
Path Following By A Quadrotor Using Virtual Target Pursuit Guidance, Abhishek Manjunath
Path Following By A Quadrotor Using Virtual Target Pursuit Guidance, Abhishek Manjunath
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
Missile guidance laws have been solely developed to follow and intercept a target thereby destroying or damaging it. In this research, the primary objective is to modify and adopt a missile guidance law to be used on a quadrotor to follow a virtual target. The target is termed 'virtual' as it only exists mathematically in the form of equations. The goal is to have the quadrotor successfully following the predefined path (described by the target) while maintaining a fixed distance from the virtual target. To ensure viability and assess performance, a detailed comparison with another path following law is made.